The Application Reserch Of Unscented Particle Filter Algorithm To Gps/Dr

In this paper, a new particle filter algorithm-Unscented particle filter(UPF) is given based on the analysis of Extended Kalma Filter (EKF), General Particle Filter(PF) and Unscented Kalma Filter(UKF), and then it is applied to GPS/DR integrated navigation system. Finally, the feasibility and accuracy of UPF algorithm are proved, with a simulation and compare of UPF and PF in GPS/DR integrated navigation system.